\hypertarget{class_drive_subsystem}{\section{Drive\-Subsystem Class Reference}
\label{class_drive_subsystem}\index{Drive\-Subsystem@{Drive\-Subsystem}}
}


{\ttfamily \#include $<$Drive\-Subsystem.\-hpp$>$}

Inheritance diagram for Drive\-Subsystem\-:\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[height=5.000000cm]{class_drive_subsystem}
\end{center}
\end{figure}
\subsection*{Public Types}
\begin{DoxyCompactItemize}
\item 
enum \hyperlink{class_drive_subsystem_adbbe91a7fd62cf12702601070d50b6eb}{Control\-Mode} \{ \\*
{\bfseries Control\-Mode\-Percent\-V\-Bus} = Pid\-Motor\-Controller\-:\-:Percent\-V\-Bus, 
{\bfseries Control\-Mode\-Speed} = Pid\-Motor\-Controller\-:\-:Speed, 
{\bfseries Control\-Mode\-Distance} = Pid\-Motor\-Controller\-:\-:Position, 
{\bfseries Control\-Mode\-Voltage} = Pid\-Motor\-Controller\-:\-:Voltage, 
\\*
{\bfseries Control\-Mode\-Current} = Pid\-Motor\-Controller\-:\-:Current
 \}
\item 
enum \hyperlink{class_drive_subsystem_a8bf21977a6b2911139200f2d2c32871a}{Speed\-Reference} \{ {\bfseries Speed\-Reference\-Nothing} = C\-A\-N\-Jaguar\-:\-:k\-Speed\-Ref\-\_\-\-None, 
{\bfseries Speed\-Reference\-Encoder} = C\-A\-N\-Jaguar\-:\-:k\-Speed\-Ref\-\_\-\-Encoder, 
{\bfseries Speed\-Reference\-Inverted\-Encoder} = C\-A\-N\-Jaguar\-:\-:k\-Speed\-Ref\-\_\-\-Inv\-Encoder, 
{\bfseries Speed\-Reference\-Quad\-Encoder} = C\-A\-N\-Jaguar\-:\-:k\-Speed\-Ref\-\_\-\-Quad\-Encoder
 \}
\item 
enum \hyperlink{class_drive_subsystem_ad4cb48ca262f5befda36fb53263843d7}{Distance\-Reference} \{ {\bfseries Distance\-Reference\-Nothing} = C\-A\-N\-Jaguar\-:\-:k\-Pos\-Ref\-\_\-\-None, 
{\bfseries Distance\-Reference\-Quad\-Encoder} = C\-A\-N\-Jaguar\-:\-:k\-Pos\-Ref\-\_\-\-Quad\-Encoder, 
{\bfseries Distance\-Reference\-Potentiometer} = C\-A\-N\-Jaguar\-:\-:k\-Pos\-Ref\-\_\-\-Potentiometer
 \}
\item 
enum \hyperlink{class_drive_subsystem_ace82b46d96fe6a96f39a564e303de261}{Neutral\-Mode} \{ {\bfseries Neutral\-Mode\-Jumper} = C\-A\-N\-Jaguar\-:\-:k\-Neutral\-Mode\-\_\-\-Jumper, 
{\bfseries Neutral\-Mode\-Brake} = C\-A\-N\-Jaguar\-:\-:k\-Neutral\-Mode\-\_\-\-Brake, 
{\bfseries Neutral\-Mode\-Coast} = C\-A\-N\-Jaguar\-:\-:k\-Neutral\-Mode\-\_\-\-Coast
 \}
\end{DoxyCompactItemize}
\subsection*{Additional Inherited Members}


\subsection{Detailed Description}
The \hyperlink{class_drive_subsystem}{Drive\-Subsystem} class is a base class for all drive subsystems. This class can not be used by itself. 

\subsection{Member Enumeration Documentation}
\hypertarget{class_drive_subsystem_adbbe91a7fd62cf12702601070d50b6eb}{\index{Drive\-Subsystem@{Drive\-Subsystem}!Control\-Mode@{Control\-Mode}}
\index{Control\-Mode@{Control\-Mode}!DriveSubsystem@{Drive\-Subsystem}}
\subsubsection[{Control\-Mode}]{\setlength{\rightskip}{0pt plus 5cm}enum {\bf Drive\-Subsystem\-::\-Control\-Mode}}}\label{class_drive_subsystem_adbbe91a7fd62cf12702601070d50b6eb}
The Control\-Mode enum is currently used only for C\-A\-N\-Jaguar control modes.

We hope in the future to support different modes given only normal motor controllers and corresponding encoders. \hypertarget{class_drive_subsystem_ad4cb48ca262f5befda36fb53263843d7}{\index{Drive\-Subsystem@{Drive\-Subsystem}!Distance\-Reference@{Distance\-Reference}}
\index{Distance\-Reference@{Distance\-Reference}!DriveSubsystem@{Drive\-Subsystem}}
\subsubsection[{Distance\-Reference}]{\setlength{\rightskip}{0pt plus 5cm}enum {\bf Drive\-Subsystem\-::\-Distance\-Reference}}}\label{class_drive_subsystem_ad4cb48ca262f5befda36fb53263843d7}
The Distance\-Reference enum is currently used only for C\-A\-N\-Jaguar position modes.

We hope in the future to support different modes given only normal motor controllers and corresponding encoders. \hypertarget{class_drive_subsystem_ace82b46d96fe6a96f39a564e303de261}{\index{Drive\-Subsystem@{Drive\-Subsystem}!Neutral\-Mode@{Neutral\-Mode}}
\index{Neutral\-Mode@{Neutral\-Mode}!DriveSubsystem@{Drive\-Subsystem}}
\subsubsection[{Neutral\-Mode}]{\setlength{\rightskip}{0pt plus 5cm}enum {\bf Drive\-Subsystem\-::\-Neutral\-Mode}}}\label{class_drive_subsystem_ace82b46d96fe6a96f39a564e303de261}
The Neutral\-Mode enum is currently used only for C\-A\-N\-Jaguar neutral modes.

We hope in the future to support different modes given only normal motor controllers. \hypertarget{class_drive_subsystem_a8bf21977a6b2911139200f2d2c32871a}{\index{Drive\-Subsystem@{Drive\-Subsystem}!Speed\-Reference@{Speed\-Reference}}
\index{Speed\-Reference@{Speed\-Reference}!DriveSubsystem@{Drive\-Subsystem}}
\subsubsection[{Speed\-Reference}]{\setlength{\rightskip}{0pt plus 5cm}enum {\bf Drive\-Subsystem\-::\-Speed\-Reference}}}\label{class_drive_subsystem_a8bf21977a6b2911139200f2d2c32871a}
The Speed\-Reference enum is currently used only for C\-A\-N\-Jaguar speed modes.

We hope in the future to support different modes given only normal motor controllers and corresponding encoders. 

The documentation for this class was generated from the following file\-:\begin{DoxyCompactItemize}
\item 
C\-:/\-Users/\-Sam/\-Projects/\-F\-R\-C/\-Libraries/\-Fpk/\-Entech-\/\-Fpk-\/\-Subscribers/\-Entech-\/\-Fpk/\-Subsystems/Drive\-Subsystem.\-hpp\end{DoxyCompactItemize}
